{"id":"https://openalex.org/W4292387640","doi":"https://doi.org/10.1109/civemsa53371.2022.9853684","title":"Detecting Landmark Misrecognition in Pose-Graph SLAM via Minimum Cost Multicuts","display_name":"Detecting Landmark Misrecognition in Pose-Graph SLAM via Minimum Cost Multicuts","publication_year":2022,"publication_date":"2022-06-15","ids":{"openalex":"https://openalex.org/W4292387640","doi":"https://doi.org/10.1109/civemsa53371.2022.9853684"},"language":"en","primary_location":{"id":"doi:10.1109/civemsa53371.2022.9853684","is_oa":false,"landing_page_url":"https://doi.org/10.1109/civemsa53371.2022.9853684","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 9th International Conference on Computational Intelligence and Virtual Environments for Measurement Systems and Applications (CIVEMSA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5047078710","display_name":"Kazushi Aiba","orcid":null},"institutions":[{"id":"https://openalex.org/I111966504","display_name":"University of Fukui","ror":"https://ror.org/00msqp585","country_code":"JP","type":"education","lineage":["https://openalex.org/I111966504"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Kazushi Aiba","raw_affiliation_strings":["University of Fukui,Department of Engineering,Japan","Department of Engineering, University of Fukui, Japan"],"affiliations":[{"raw_affiliation_string":"University of Fukui,Department of Engineering,Japan","institution_ids":["https://openalex.org/I111966504"]},{"raw_affiliation_string":"Department of Engineering, University of Fukui, Japan","institution_ids":["https://openalex.org/I111966504"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5007423029","display_name":"Tanaka Kanji","orcid":"https://orcid.org/0000-0002-1143-5478"},"institutions":[{"id":"https://openalex.org/I111966504","display_name":"University of Fukui","ror":"https://ror.org/00msqp585","country_code":"JP","type":"education","lineage":["https://openalex.org/I111966504"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kanji Tanaka","raw_affiliation_strings":["University of Fukui,Department of Engineering,Japan","Department of Engineering, University of Fukui, Japan"],"affiliations":[{"raw_affiliation_string":"University of Fukui,Department of Engineering,Japan","institution_ids":["https://openalex.org/I111966504"]},{"raw_affiliation_string":"Department of Engineering, University of Fukui, Japan","institution_ids":["https://openalex.org/I111966504"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5002731187","display_name":"Ryogo Yamamoto","orcid":null},"institutions":[{"id":"https://openalex.org/I111966504","display_name":"University of Fukui","ror":"https://ror.org/00msqp585","country_code":"JP","type":"education","lineage":["https://openalex.org/I111966504"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Ryogo Yamamoto","raw_affiliation_strings":["University of Fukui,Department of Engineering,Japan","Department of Engineering, University of Fukui, Japan"],"affiliations":[{"raw_affiliation_string":"University of Fukui,Department of Engineering,Japan","institution_ids":["https://openalex.org/I111966504"]},{"raw_affiliation_string":"Department of Engineering, University of Fukui, Japan","institution_ids":["https://openalex.org/I111966504"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5047078710"],"corresponding_institution_ids":["https://openalex.org/I111966504"],"apc_list":null,"apc_paid":null,"fwci":0.308,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.73007054,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"1","last_page":"5"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.9958000183105469,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/landmark","display_name":"Landmark","score":0.871611475944519},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6348360776901245},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.6341032981872559},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.578500509262085},{"id":"https://openalex.org/keywords/graph","display_name":"Graph","score":0.5545510053634644},{"id":"https://openalex.org/keywords/metric-map","display_name":"Metric map","score":0.5228593349456787},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.49814820289611816},{"id":"https://openalex.org/keywords/metric","display_name":"Metric (unit)","score":0.4979248046875},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.4931184947490692},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.2879854440689087},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.2658330202102661},{"id":"https://openalex.org/keywords/theoretical-computer-science","display_name":"Theoretical computer science","score":0.26173725724220276},{"id":"https://openalex.org/keywords/metric-space","display_name":"Metric space","score":0.1916198432445526},{"id":"https://openalex.org/keywords/discrete-mathematics","display_name":"Discrete mathematics","score":0.07668358087539673}],"concepts":[{"id":"https://openalex.org/C2780297707","wikidata":"https://www.wikidata.org/wiki/Q4895393","display_name":"Landmark","level":2,"score":0.871611475944519},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6348360776901245},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.6341032981872559},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.578500509262085},{"id":"https://openalex.org/C132525143","wikidata":"https://www.wikidata.org/wiki/Q141488","display_name":"Graph","level":2,"score":0.5545510053634644},{"id":"https://openalex.org/C145084290","wikidata":"https://www.wikidata.org/wiki/Q2713824","display_name":"Metric map","level":4,"score":0.5228593349456787},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.49814820289611816},{"id":"https://openalex.org/C176217482","wikidata":"https://www.wikidata.org/wiki/Q860554","display_name":"Metric (unit)","level":2,"score":0.4979248046875},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.4931184947490692},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2879854440689087},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2658330202102661},{"id":"https://openalex.org/C80444323","wikidata":"https://www.wikidata.org/wiki/Q2878974","display_name":"Theoretical computer science","level":1,"score":0.26173725724220276},{"id":"https://openalex.org/C198043062","wikidata":"https://www.wikidata.org/wiki/Q180953","display_name":"Metric space","level":2,"score":0.1916198432445526},{"id":"https://openalex.org/C118615104","wikidata":"https://www.wikidata.org/wiki/Q121416","display_name":"Discrete mathematics","level":1,"score":0.07668358087539673},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C196613150","wikidata":"https://www.wikidata.org/wiki/Q3966092","display_name":"Convex metric space","level":3,"score":0.0},{"id":"https://openalex.org/C21547014","wikidata":"https://www.wikidata.org/wiki/Q1423657","display_name":"Operations management","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/civemsa53371.2022.9853684","is_oa":false,"landing_page_url":"https://doi.org/10.1109/civemsa53371.2022.9853684","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 9th International Conference on Computational Intelligence and Virtual Environments for Measurement Systems and Applications (CIVEMSA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W2056853153","https://openalex.org/W2057559274","https://openalex.org/W2026924879","https://openalex.org/W2005087563","https://openalex.org/W2378111931","https://openalex.org/W2052388267","https://openalex.org/W2950647290","https://openalex.org/W1581933381","https://openalex.org/W2112998988","https://openalex.org/W4280529981"],"abstract_inverted_index":{"Pose-graph":[0],"SLAM":[1,35,194],"is":[2,45,88,164],"the":[3,30,59,75,91,108,127,139,142,156,167,179,200],"de":[4],"facto":[5],"standard":[6],"framework":[7,195],"for":[8,114],"constructing":[9],"large-scale":[10],"maps":[11],"from":[12],"multisession":[13],"experiences":[14],"of":[15,32,110,118,129,141,158,169,181],"relative":[16],"observations":[17],"and":[18,134,174,196],"motions":[19],"during":[20],"visual":[21],"robot":[22,143,182],"navigations.":[23],"It":[24],"has":[25],"received":[26],"increasing":[27],"attention":[28],"in":[29,74],"context":[31],"recent":[33],"advanced":[34],"frameworks":[36],"such":[37,137,177],"as":[38,93,138,178],"graph":[39,77,82,132,172,186],"neural":[40],"SLAM.":[41],"One":[42],"remaining":[43],"challenge":[44],"landmark":[46,51,104,130,170],"misrecognition":[47],"errors":[48],"(i.e.,":[49],"incorrect":[50],"edges)":[52],"that":[53,97,152],"can":[54],"have":[55],"catastrophic":[56],"effects":[57],"on":[58,155],"inferred":[60],"pose-graph":[61],"map.":[62],"In":[63],"this":[64],"study,":[65],"we":[66,146],"present":[67],"comprehensive":[68],"criteria":[69],"to":[70,89,100],"maximize":[71],"global":[72],"consistency":[73,150],"pose":[76],"using":[78,199],"a":[79,94,115,148,192],"new":[80,149],"robust":[81],"cut":[83,187],"technique.":[84],"Our":[85],"key":[86],"idea":[87],"formulate":[90],"problem":[92],"minimum-cost":[95],"multicut":[96],"enables":[98],"us":[99],"optimize":[101],"not":[102],"only":[103,154],"correspondences":[105],"but":[106],"also":[107],"number":[109,117],"landmarks":[111],"while":[112],"allowing":[113],"varying":[116],"landmarks.":[119,160],"This":[120],"makes":[121],"our":[122],"proposed":[123,162,185],"approach":[124],"invariant":[125,165],"against":[126,166],"type":[128,168],"measurement,":[131],"topology,":[133,173],"metric":[135,151,163,175],"information,":[136],"speed":[140,180],"motion.":[144,183],"Specifically,":[145],"implement":[147],"relies":[153],"order":[157],"observed":[159],"The":[161,184],"measurements,":[171],"information":[176],"technique":[188],"was":[189],"integrated":[190],"into":[191],"practical":[193],"verified":[197],"experimentally":[198],"public":[201],"NCLT":[202],"dataset.":[203]},"counts_by_year":[{"year":2023,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
